Volume 8, Issue 1, January 2019, Page: 23-32
Research on Path Planning of Substation X-Robot
Guangchao Hao, School of Energy, Power and Mechanical Engineering, North China Electric Power University, Baoding, China
Ronghai Liu, Yunnan Electric Power Research Institute, Kunming, China
Shuting Wan, School of Energy, Power and Mechanical Engineering, North China Electric Power University, Baoding, China
Received: Dec. 27, 2018;       Accepted: Jan. 24, 2019;       Published: Mar. 12, 2019
DOI: 10.11648/j.epes.20190801.13      View  715      Downloads  133
In this paper, according to the environment of the robot in the substation, firstly, the D-H mathematical modeling of the UR10 manipulator is built and the forward and inverse kinematics of the UR10 manipulator are solved by studying the basic knowledge of the manipulator. Secondly, aiming at the problems existing in the traditional artificial potential field method, the improved artificial potential field method is studied and the principle that the link of the manipulator can not collide with obstacles is studied. The collision detection algorithm is added and the collision detection of cylindrical bounding box is designed. Then according to the starting position of the end of the manipulator and the position of the obstacle, the moving path of the end of the manipulator is determined. Finally, the improved artificial potential field method is used in MATLAB to simulate the moving path of the UR10 manipulator, and field tests are carried out to verify the effectiveness of the improved artificial potential field method and collision detection of cylindrical bounding box in the path planning. These methods can make the robot reach the designated detection position perfectly in the process of walking in the substation and also avoid the collision between the manipulator and the obstacle (substation electrical equipment and building, etc.). The application of X-ray detection equipment in substation becomes more intelligent.
D-H Mathematical Modeling, Manipulator, Collision Detection, Improved Artificial Potential Field Method
To cite this article
Guangchao Hao, Ronghai Liu, Shuting Wan, Research on Path Planning of Substation X-Robot, American Journal of Electrical Power and Energy Systems. Vol. 8, No. 1, 2019, pp. 23-32. doi: 10.11648/j.epes.20190801.13
Copyright © 2019 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License ( which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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